汽车ABS防抱制动特性及其不解体检测技术研究
|
摘要
随着汽车行驶速度的不断提高和道路行车密度的增大,对汽车行驶安全性提出了越来越高的要求。汽车防抱死制动系统ABS(Anti-lock Braking System)能够通过控制和调节车轮的制动力,防止车轮在制动时的滑转,最大限度的利用路面附着系数以缩短制动距离、防止侧滑、提高制动时的方向稳定性,从而大大改善汽车的制动性能,提高汽车的安全性。因此,ABS装置目前得到了非常快速的发展和广泛应用。对于ABS工作性能的检测和评价,通常采用的是道路试验的方法。但是,道路试验方法试验费用高、测试周期长、精度低,受环境及道路条件的影响大,只适合对部分车辆的抽检,不能适应大批量车辆的定期检测。如何实现对装有ABS车辆的制动性能进行不解体台架测试的问题,是我国汽车安全和综合性能检测行业以及汽车制造与维修企业急需解决的技术难题。
针对这一问题,本文在深入分析汽车ABS防抱制动特性的基础上,对汽车ABS不解体台架检测理论进行了研究,提出了一种能够在不同路面组合工况下对ABS的工作性能进行不解体检测的方法。该方法在台架上利用惯性飞轮的转动动能来模拟汽车旋转体的转动动能及汽车直线运动的平动动能,通过扭矩控制器控制滚筒来实现对道路附着系数的模拟,通过计算机控制系统对道路附着系数模拟系统进行自动调节与控制,模拟出单一附着系数路面、对开附着系数路面和对接附着系数路面这三种ABS最典型的工况以及滚筒摩擦系数可以达到的其它任意组合形式,在车辆固定装置等安全措施保障下,完成对车辆各种制动过程的动态模拟,实现对车辆ABS系统工作性能的试验与检测。
论文通过对汽车制动过程中车轮抱死影响因素的分析以及对汽车制动过程中的运动学和动力学分析,总结出了汽车ABS系统的防抱制动特性以及理想的汽车ABS防抱制动控制过程；建立了汽车制动过程中基于ABS的驾驶员反应距离数学模型、制动距离数学模型和停车距离数学模型。通过对汽车ABS的种类、装车形式及其控制原理的分析和研究,总结了ABS各个控制参数控制制动压力的方法及其适应场合；通过对ABS各种控制方案和控制算法的分析和仿真研究,提出采用多参数预测控制与模仿控制相结合作为ABS的控制方案和采用模糊控制作为ABS的控制算法更为合理。
论文还对ABS试验台及测控系统的总体技术方案及其实现技术进行了深入的研究,采用协同设计及设计过程建模的方法,建立了基于扩展对象Petri网的ABS不解体试验台的设计过程模型,并对该模型进行了仿真和性能分析,提出了相应的设计过程改造和优化的途径。为了解决ABS试验台测控系统与汽车检测线的联网通信问题,论文在深入分析了串行通信、文件共享、网络数据库等三种传统的汽车检测线联网通信方式的基础上,提出了一种新的基于Winsocket技术的ABS试验台测控系统与汽车检测线联网通信的方式,在C/S模式下,解决了整个联网控制系统的车辆调度和检测数据实时传输等网络通信问题。对于检测数据的处理问题,论文在分析传统的汽车制动力检测数据拟合方法存在不足的基础上,提出了采用三次B样条函数拟合与优化的新方法,并对该方法进行了深入的理论分析和软件实现。试验结果和标定情况表明：该方法很好地解决了汽车性能检测中难以解决的制动力检测数据的分析与处理问题,使其检测精度、数据重复性乃至整个检测系统稳定性与可靠性都大为提高。
本文的研究属于汽车检测技术领域的前沿课题。通过ABS不解体试验台及测试分析系统的研制,可以有效地解决我国现有的各种汽车检测试验台无法对装有ABS车辆的制动性能进行不解体测试的这一困扰我国汽车检测行业多年的技术难题,从而填补我国在汽车ABS不解体室内台架试验方面的空白,对于促进我国汽车检测技术及其装备的发展具有重要意义。
With the speed acceleration of automobiles and the density of the traffic, there come higher and stricter requirements for the safety of driving. Anti-lock Braking System(ABS) of automobiles, through regulating and adjusting the braking of wheels, can make the greatest use of the road surface adhesive coefficient to shorten the braking distance, prevent side slippery, improve the steadiness of steering in braking performance, thus greatly enhance automobiles'braking performance and improve the safety of automobiles. As a result, ABS comes into quick and wide use. The testing and evaluation of the performance of ABS is often carried out through road testing. However, road testing, on the one hand, involves expensive experimenting fees, long testing cycles, low precision, and great influence by the conditions of roads and the environment, but on the other hand, it can only applies to spot checks of certain automobiles, but not to the regular testing of a host of automobiles. How to test the braking performance of automobiles equipped with ABS without disintegrating platforms remains a technological problem to be solved immediately for our country's safety and comprehensive testing industry as well as automobile manufacturing and automobiles service industry.
As far as this problem is concerned, the paper, on the basis of thorough analysis of the properties of ABS and the research on testing theories of ABS without disintegrating platforms, the paper puts forward a new testing method of the performance of ABS without disintegrating platforms in different road conditions. This method makes use of inertia flywheel turning dynamics on the platform to simulate the dynamics of the automobile's revolver and the horizontal dynamics of automobile's rectilinear motion. The simulation of the road surface adhesive coefficient is conducted by the torsion control over the revolver. In other words, the surface of the roller is used to substitute the surface of roads, on which wheels spin. The computer control system automatically regulates and controls the simulating system of the road surface adhesive coefficient, which makes it possible to simulate the three typical working conditions (single adhesive coefficient of the road surface, reciprocal adhesive coefficient of the road surface, docking adhesive coefficient of the road surface), and the fricative coefficient of the roller and combine them together at will. As a result, the dynamic simulation of different braking process of automobiles is available, and the trial and testing of the performance of ABS with the safety guarantee of automobile's fixed equipment is available, too.
The paper, through the analysis of the locking factors of automobile's braking process and kinematics dynamics, summarizes the anti-locking properties of ABS and the ideal anti-locking process of ABS; in the meanwhile, it constructs the mathematic model of reactive distance of drivers with ABS, the mathematic model of transportation braking distance as well as the mathematic model of parking distance. With the analysis of the types, loading and the controlling theories of ABS, the paper explores the methods of the braking pressure of ABS'different regulating parameters and its appliances. With the regulating schemes of ABS and the simulated research, the paper comes up with the conception that that it is more rational to adopt fuzzy control as the regulating algorithm of ABS by combining multi-parameters'detective control and simulated test.
The paper, conducting a thorough research of the overall technological scheme and its technological fulfillment of ABS'testing platform and monitoring system, uses the methods of coordinative designing and model construction in the designing process, builds the designing process model of ABS without disintegrating platforms based on the expanded target—Petri net, and simulates and analyzes the properties of the models. Meanwhile it also put forwards the innovating and optimizing methods in the designing process. In order to solve the communication problems of monitoring system of testing platform monitoring system and automobile's testing line, the paper, after the thorough analysis of the three traditional automobile testing networking methods of skipping communication, data sharing, net data bank, proposes a new monitoring system of ABS testing platform and automobile testing networking communication based on the technology of Winsocket, which solves the networking problems of automobile dispatch in networking control system and networking communicative methods of automobile testing under the pattern of C/S. In terms of the procession of testing data, this paper analyze the shortcomings of quasi-harmony of the traditional method of testing data, recommends the adoption of the new quasi-harmony and optimizing methods of three B functions, and undertake further theoretic analysis and software realization. The testing results and standardization shows that this method solves the difficult tasks of the analyzing and procession of braking testing data, thus greatly improve the precision, data repetitiveness and even the steadiness and reliability of the whole testing system.
The research of this paper is a frontier research topic in automobile performance test. Through the development of testing platform without disintegration as well as the testing and analyzing system, the technological problems of testing braking system of automobiles with ABS by all existing automobile testing platform can be effectively solved, which baffle our country's automobile's testing industry for years. This research fills the gaps in this field; meanwhile, it is of great significance to our country's development in automobile testing technology and equipment.
针对这一问题,本文在深入分析汽车ABS防抱制动特性的基础上,对汽车ABS不解体台架检测理论进行了研究,提出了一种能够在不同路面组合工况下对ABS的工作性能进行不解体检测的方法。该方法在台架上利用惯性飞轮的转动动能来模拟汽车旋转体的转动动能及汽车直线运动的平动动能,通过扭矩控制器控制滚筒来实现对道路附着系数的模拟,通过计算机控制系统对道路附着系数模拟系统进行自动调节与控制,模拟出单一附着系数路面、对开附着系数路面和对接附着系数路面这三种ABS最典型的工况以及滚筒摩擦系数可以达到的其它任意组合形式,在车辆固定装置等安全措施保障下,完成对车辆各种制动过程的动态模拟,实现对车辆ABS系统工作性能的试验与检测。
论文通过对汽车制动过程中车轮抱死影响因素的分析以及对汽车制动过程中的运动学和动力学分析,总结出了汽车ABS系统的防抱制动特性以及理想的汽车ABS防抱制动控制过程；建立了汽车制动过程中基于ABS的驾驶员反应距离数学模型、制动距离数学模型和停车距离数学模型。通过对汽车ABS的种类、装车形式及其控制原理的分析和研究,总结了ABS各个控制参数控制制动压力的方法及其适应场合；通过对ABS各种控制方案和控制算法的分析和仿真研究,提出采用多参数预测控制与模仿控制相结合作为ABS的控制方案和采用模糊控制作为ABS的控制算法更为合理。
论文还对ABS试验台及测控系统的总体技术方案及其实现技术进行了深入的研究,采用协同设计及设计过程建模的方法,建立了基于扩展对象Petri网的ABS不解体试验台的设计过程模型,并对该模型进行了仿真和性能分析,提出了相应的设计过程改造和优化的途径。为了解决ABS试验台测控系统与汽车检测线的联网通信问题,论文在深入分析了串行通信、文件共享、网络数据库等三种传统的汽车检测线联网通信方式的基础上,提出了一种新的基于Winsocket技术的ABS试验台测控系统与汽车检测线联网通信的方式,在C/S模式下,解决了整个联网控制系统的车辆调度和检测数据实时传输等网络通信问题。对于检测数据的处理问题,论文在分析传统的汽车制动力检测数据拟合方法存在不足的基础上,提出了采用三次B样条函数拟合与优化的新方法,并对该方法进行了深入的理论分析和软件实现。试验结果和标定情况表明：该方法很好地解决了汽车性能检测中难以解决的制动力检测数据的分析与处理问题,使其检测精度、数据重复性乃至整个检测系统稳定性与可靠性都大为提高。
本文的研究属于汽车检测技术领域的前沿课题。通过ABS不解体试验台及测试分析系统的研制,可以有效地解决我国现有的各种汽车检测试验台无法对装有ABS车辆的制动性能进行不解体测试的这一困扰我国汽车检测行业多年的技术难题,从而填补我国在汽车ABS不解体室内台架试验方面的空白,对于促进我国汽车检测技术及其装备的发展具有重要意义。
With the speed acceleration of automobiles and the density of the traffic, there come higher and stricter requirements for the safety of driving. Anti-lock Braking System(ABS) of automobiles, through regulating and adjusting the braking of wheels, can make the greatest use of the road surface adhesive coefficient to shorten the braking distance, prevent side slippery, improve the steadiness of steering in braking performance, thus greatly enhance automobiles'braking performance and improve the safety of automobiles. As a result, ABS comes into quick and wide use. The testing and evaluation of the performance of ABS is often carried out through road testing. However, road testing, on the one hand, involves expensive experimenting fees, long testing cycles, low precision, and great influence by the conditions of roads and the environment, but on the other hand, it can only applies to spot checks of certain automobiles, but not to the regular testing of a host of automobiles. How to test the braking performance of automobiles equipped with ABS without disintegrating platforms remains a technological problem to be solved immediately for our country's safety and comprehensive testing industry as well as automobile manufacturing and automobiles service industry.
As far as this problem is concerned, the paper, on the basis of thorough analysis of the properties of ABS and the research on testing theories of ABS without disintegrating platforms, the paper puts forward a new testing method of the performance of ABS without disintegrating platforms in different road conditions. This method makes use of inertia flywheel turning dynamics on the platform to simulate the dynamics of the automobile's revolver and the horizontal dynamics of automobile's rectilinear motion. The simulation of the road surface adhesive coefficient is conducted by the torsion control over the revolver. In other words, the surface of the roller is used to substitute the surface of roads, on which wheels spin. The computer control system automatically regulates and controls the simulating system of the road surface adhesive coefficient, which makes it possible to simulate the three typical working conditions (single adhesive coefficient of the road surface, reciprocal adhesive coefficient of the road surface, docking adhesive coefficient of the road surface), and the fricative coefficient of the roller and combine them together at will. As a result, the dynamic simulation of different braking process of automobiles is available, and the trial and testing of the performance of ABS with the safety guarantee of automobile's fixed equipment is available, too.
The paper, through the analysis of the locking factors of automobile's braking process and kinematics dynamics, summarizes the anti-locking properties of ABS and the ideal anti-locking process of ABS; in the meanwhile, it constructs the mathematic model of reactive distance of drivers with ABS, the mathematic model of transportation braking distance as well as the mathematic model of parking distance. With the analysis of the types, loading and the controlling theories of ABS, the paper explores the methods of the braking pressure of ABS'different regulating parameters and its appliances. With the regulating schemes of ABS and the simulated research, the paper comes up with the conception that that it is more rational to adopt fuzzy control as the regulating algorithm of ABS by combining multi-parameters'detective control and simulated test.
The paper, conducting a thorough research of the overall technological scheme and its technological fulfillment of ABS'testing platform and monitoring system, uses the methods of coordinative designing and model construction in the designing process, builds the designing process model of ABS without disintegrating platforms based on the expanded target—Petri net, and simulates and analyzes the properties of the models. Meanwhile it also put forwards the innovating and optimizing methods in the designing process. In order to solve the communication problems of monitoring system of testing platform monitoring system and automobile's testing line, the paper, after the thorough analysis of the three traditional automobile testing networking methods of skipping communication, data sharing, net data bank, proposes a new monitoring system of ABS testing platform and automobile testing networking communication based on the technology of Winsocket, which solves the networking problems of automobile dispatch in networking control system and networking communicative methods of automobile testing under the pattern of C/S. In terms of the procession of testing data, this paper analyze the shortcomings of quasi-harmony of the traditional method of testing data, recommends the adoption of the new quasi-harmony and optimizing methods of three B functions, and undertake further theoretic analysis and software realization. The testing results and standardization shows that this method solves the difficult tasks of the analyzing and procession of braking testing data, thus greatly improve the precision, data repetitiveness and even the steadiness and reliability of the whole testing system.
The research of this paper is a frontier research topic in automobile performance test. Through the development of testing platform without disintegration as well as the testing and analyzing system, the technological problems of testing braking system of automobiles with ABS by all existing automobile testing platform can be effectively solved, which baffle our country's automobile's testing industry for years. This research fills the gaps in this field; meanwhile, it is of great significance to our country's development in automobile testing technology and equipment.
引文
[1]Integrated ABS/ASR/ACC system for the car. Liu, Zhao-Du (Beijing Inst. of Technol.); Lu, Jiang; Shi, Kai-Bin; An, Wei Source:Journal of Beijing Institute of Technology (English Edition), v 10, n 3, September,2001, p 326-330
[2]吴昌扣,孙骏.汽车ABS/ASR技术及发展趋势,安徽科技[J],2003.(5)
[3]吴权晖,徐达.汽车防抱死制动系统的应用与发展,武汉汽车工业大学学报[J],1999,21(2).
[4]ABS braking performance and steering input. Strickland, Alan (Royal Canadian Mounted Police); Dagg, Ken Source:SAE Special Publications, v 1339, Feb,1998, ABS/Brake/VDC Technology, p 57-64
[5]Mathues. ABS extending the range, SAE Paper 940829.
[6]Peter Hartwig. Cost-benefit analysis of simplified ABS, SAE Paper 850053.
[7]Koichi Hasida. Compact 4ch-ABS hydraulic unit, SAE Paper 920306.
[8]Takeshi Natio, Hiroaki Takeuchi.Development of four solenoid ABS, SAE Paper 960958.
[9]Song Minwang.Personal computer design software for magnetic analysis and dynamic simulation of a two-valve solenoid actuator, SAE Paper 921086.
[10]www.ITT.com
[11]邢亮亮,汽车动力学及ABS系统的计算机仿真研究,西北工业大学硕士论文[D],2002,3
[12]欧洲经济委员会(ECE)的汽车制动法规附件十三——《采用制动防抱死装置的车辆的实验要求》
[13]GB13594-2003《汽车防抱死系统性能要求和实验方法》
[14]www.linkrad.com:ABS End-of-Line Test Systems for Manufacturing Plants.
[15]www.ptmelec.com:ABS Test Controller
[16]www.iyasaka.com.cn:BT-150ABS多功能汽车ABS制动检测台
[17]http://www.schenck.net/en/products.htm
[18]郭孔辉,汽车ABS混合仿真试验台的开发与研究,中国机械工程[J],2000,11(12)
[19]林波,夏群生,何乐,ABS液压混合仿真试验台的研究和应用,清华大学学报(自然科学版)[J],2002,42(2)
[20]赵和平,硬件在环仿真技术在防抱死制动系统试验台架开发中的应用,上海交通大学博士论文[D],2002
[21]孙仁云,汽车防抱制动装置试验台测试系统的研制,四川工业学院学报[J],1999.4
[221马彦,实时五通道ABS检测系统及应用,江苏理工大学学报(自然科学版)[J],1999,20(6)
[23]徐火燃,二轴四通道汽车ABS试验台的设计,武汉理工大学硕士论文[D],2003,6
[24]赵祥模、马建等,汽车综合性能分布式计算机网络自动测控系统,长安大学学报,(2003).(5)
[25]赵祥模等,基于LAN的汽车安全性能自动测控系统研制,计算机工程,2005.(22)
[26]魏朗,郭荣庆,ABS道路试验项目及评价方法分析,山东交通学院学报[J],2002(2)
[27]肖永清.我国汽车检测技术的研究和发展方向,中国机电工业[J],2003(18)
[28]刘少林等.汽车ABS滚筒式惯性检测台架的设计,机电工程[J],2004.
[29]陈其志,汪祥本.制动防抱死系统(ABS)的现状与发展[J].城市公共交通,2004,(3):18-19.
[30]余志生,汽车理论,北京：机械工业出版社,2002.7
[31]方泳龙,汽车制动理论与设计,北京：国防工业出版社,2005.1
[32]魏朗,王囤.现代汽车制动防抱死系统适用技术[M].北京：人民交通出版社,2001.6
[33]New control technique for maximizing braking force on antilock braking system Sugai, Masaru (Toyota Central R&D Lab Inc); Yamaguchi, Hiroyuki; Miyashita, Masanori; Umeno, Takaji; Asano, Katsuhiro Source:Vehicle System Dynamics, v 32, n 4, Nov,1999, p 299-312
[34]程军,汽车防抱死制动系统的理论与实践,北京：北京理工大学出版社,1999.9
[35]喻凡,林逸,汽车系统动力学,北京：机械工业出版社,2005.9
[36]汪立亮等、徐淼等,现代汽车自动防抱死制动系统(ABS)原理与检测,北京：电子工业出版社,2004.8
[37]Modeling and analysis of automotive antilock brake systems subject to vehicle payload shifting. Mills, Val (Automotive Research Laboratory, Department of Mechanical Engineering, Clemson University); Samuels, Bernard; Wagner, John Source:Vehicle System Dynamics, v 37, n 4, April, 2002, P283-310
[38]戈素贞.基于ABS的车辆行使安全距离的研究[J].绍兴文理学院学报,2003,23(8):68-71.
[39]WANG Rong-ben,You Feng,Cui Gao-jian,Yu Tian-hong.Analysis on Lane-changing Safety of Vehicle[J].Journal of Jilin University(Engineering and Technology Edition),2005,35(2):179-182.
[40]Frank R.Giordano,Maurice D.Weir,Willian P.Fox. A First Course in Mathematical Modeling(Third Edition)[M]. Bei-jing:China Machine Press,2005.((叶其孝,姜启源译)
[41]王荣本,李斌,储江伟,郭克友.世界智能车辆行使安全保障技术研究进展[J].公路交通科技,2002,19(2)：117-121
[42]Shoichiro Nakamura. Numerical Analysis and Graphic Visualization with MATLAB[M].北京：电子工业出版社,2002.
[43]Xiang Gao.Modeling and control of anti-lock braking systems utilizing dynamic friction tire model[D],Concordia University,2001.9
[44]The ABS.EFI and Airbag sectors in China and an introduction of the key enterprises.China Auto [J],2003.2
[45]Wolfgang Maisch, wolf-Dieter Jonner, Alfred sigl.ASR—Traction Control—A Logical Extension of ABS.SAE 870337.
[46]吴浩硅,许季,刘绍辉.汽车防抱制动系统制动时的车速计算[J].华南理工大学学报(自然科学版),2002.2
[47]Hybrid control architecture for automobile ABS. Nouillant, C. (PSA Peugeot Citroen); Assadian, F.; Moreau, X.; Oustaloup, A. Source:Robot and Human Communication-Proceedings of the IEEE International Workshop,2001, p 493-498
[48]Optimal design of a hybrid controller for antilock braking systems. Mirzaei, A. (Department of Electrical and Computer Engineering, Isfahan University of Technology); Moallem, M.; Mirzaeian, B. Source:IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM, v 2, Proceedings of the 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2005,2005, p 905-910
[49]Intelligent control of wheeled vehicles with anti-braking systems. Huang, H.-P. (Robotics Laboratory, Dept. of Mechanical Engineering, National Taiwan University); Wang, C.-K. Source: International Journal of Vehicle Design, v 26, n 2-3,2001, p 218-238
[50]Sliding mode wheel slip controller for an antilock braking system. Will, A.B. (General Motors NAO Electrical Cent); Hui, S.; Zak, S.H. Source:International Journal of Vehicle Design, v 19, n 4, 1998, p 523-539
[50][日]ABS株式会社.汽车制动防抱装置(ABS)构造与原理[M].北京：机械工业出版社,1995.
[51]孙仁云,郭辛,龙行现.基于门限值控制的汽车ABS控制器的研制,西南交通大学学报[J],2003,38(4).
[52]熊坚.汽车制动防抱死控制信号分析及门值的选取,云南工业大学学报[J],1997,13(2).
[53]朱伟兴,陈垠昶.模糊PID控制在汽车ABS中的应用与仿真研究,江苏大学学报(自然科学版)[J],2004,25(4).
[54]宋健,李永.汽车防抱死制动系统控制方法的研究进展公路交通科技[J],2002,19(16).
[55]赵治国,方宗德,王广炎.防抱死制动系统模糊自学习控制研究[J].汽车工程,2002,(6):25-28.
[56]Development of hardware-in-the-loop simulation system for testing multiple ABS and TCS modules. Lee, Soo-Jin; Kim, Young-Jun; Park, Kihong Source:International Journal of Vehicle Design, v 36, n 1,2004, p 13-23
[57]Hardware-in-the-loop simulation for ABS based on PC. Suh, M.W. (Sung Kyun Kwan Univ); Chung, J.H.; Seok, C.S.; Kim, Y.J. Source:International Journal of Vehicle Design, v 24, n 2,2000, p 157-170
[58]韩文涛,刘明琴,袁志业.汽车ABS的模糊控制方法研究,公路与汽运[J],2004,1
[59]胡国亮.模糊控制汽车ABS防抱死系统,微计算机信息[J],1998,14(4)
[60]陈昌巨,刘家良,刘晓军.汽车ABS的控制方法研究,武汉理工大学学报·信息与管理工程版[J],2003,3
[61]王新郧,侯永平,李左龙,杨颖超.ABS性能评价方法的研究.汽车技术[J],2002,(2)
[62]李春泉.在我省进行使用试验的汽车防抱制动系统简介,云南交通科技[J],2001,17(1)
[63]美国联邦车辆安全标准(FEDERAL MOTOR VEHICLE SAFETY STANDARDS AND REGULATIONS)
[64]王新郧,侯永平,李左龙,杨颖超,ABS性能评价方法的研究,汽车技术[J],2002,(2)
[65]张厚忠,李尽松,ABS的综合性能评价体系及道路试验研究[J],汽车科技,2005,(1):24-27
[66]纪晓鹏.基于整车试验剖析制动防抱系统(ABS)特征的研究,同济大学学报[J],2003,3
[67]黄河,桂根生,吴诰珪,赵克刚,钟汉如,毕盛,GZ6920SF大客车ABS试验研究,机电工程技术[J],2002,31(5)
[68]陈振日.牵引车、半挂车ABS道路试验及计算方法,试验、测试[J],2004(1)
[69]张新,王群峰,吴志强,姜陵.新型液压ABS系统的道路试验研究[J],2004,26(3)
[70]Xiang Gao.Modeling and control of anti-lock braking systems utilizing dynamic friction tire model[D]. Concordia University.2001,(9)
[71]The ABS,EFI and Airbag sectors in China and an introduction of the key enterprises.China Auto [J],2003,(2)
[72]Vehicle integrated control (ABS, ASUS,4WS) with variable structure control (sliding wlode):The new method for active suspension system. Salehi, Mahdi (Mechanical Engineering Department, Sharif University of Tech.); Vosoughi, Gholamreza Source:Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference-DETC2005, v 4, Proc. of the ASME International Des. Eng. Tech. Conferences and Computers and Inf. in Engineering Conf.-DETC2005:ASME/IEEE International Conference on Mechatronic and Embedded Systems Appl.,2005, p 121-129
[73]Simulation of solid cargo-vehicle interaction during braking of a heavy vehicle with ABS. Romero, Jose A. (Queretaro Autonomous University); Rakheja, Subhash; Lozano, Alejandro Source: American Society of Mechanical Engineers, Design Engineering Division (Publication) DE, v 118 A, n 1, Proceedings of the ASME Design Engineering Division 2005,2005, p 89-96
[74]魏宏玲,黄德中.基于汽车ABS试验台架的传感器技术,机电工程[J],2001,5
[75]艾尼瓦尔.MABS-3000多功能汽车防抱死制动系统检验台研究[D].西安：长安大学,2002年
[76]李军,汽车使用性能与检测技术,北京：人民交通出版社,2004.9
[77]交通部公路司审定.汽车综合性能检测[M].上海：上海科学技术文献出版社,1999年5月
[78]赵奇平,陈汉讯,徐达伟,汽车、摩托车ABS性能试验台开发,武汉理工大学学报[J].2002年,05期
[79]王兆.国内外ABS标准法规简介,商用汽车[J],2002,6
[80]郭建忠、麻友良等,基于网络的汽车性能检测在线监测系统,汽车电器,2005,(2)
[81]史美林,计算机支持的协同工作理论与应用,北京：电子工业出版社,2000
[82]芮延年,协同设计,北京：机械工业出版社,2003
[83]H Park, M R Cutkosky. Framework for modeling dependencies in collaborative engineering processes. Research in Engineering Design,1999, 11:84～102
[84]袁崇义.Petri网原理与应用.北京：电子工业出版社,2005
[85]蒋昌俊.离散事件动态系统的PN机理论.北京：科学出版社,2000
[86]C A Lakos. From Coloured Petri Nets to Object Petri Nets. In:LNCS 935. Torino: Springer-Verlag,1995.278～297
[87]C A Lakos. Object-Oriented Modeling with Object Petri Nets. In:LNCS 2001. Berlin: Springer-Verlag,2001.1～37
[88]XU Jie,Du Wen,Sun Hong. Safety distance about car-following[J].Journal of Traffic and Transportation Engineering,2002,2 (1):101-104.
[89]吴诰珪,赵克刚,范刚,曾建谋.附着系数-滑移率曲线的测定,华南理工大学学报(自然科学版)[J],2001,29(9).
[90]赵祥模、郭晓汾,汽车检测控制系统网络通信技术,交通运输工程学报,2006,(1)
[91]赵祥模、安毅生等,汽车综合性能检测线软件系统的远程诊断与维护技术,计算机工程与应用,2003,(32)
[92][日]ABS株式会社.汽车制动防抱装置(ABS)构造与原理[M],北京：机械工业出版社,1995,9(6).
[93]高军.WINDOWS98平台上内燃机车负载试验微机测控系统软件的研制,兰州铁道学院硕士论文[D],2000,1
[94]陈松乔等.《现代软件工程》[M],清华大学出版社,2004
[95]GB/T15532-95《计算机软件单元测试》
[96]GB/T16680-96《软件文档管理指南》
[97]王春森.《系统设计师教程》[M],清华大学出版社,2001
[98]陈众.VC环境下小型工业监控软件的开发,计算机自动测量与控制[J],2000,8(5)
[99]阚宏进,刘希远,李翠铃.基于VC工控组态软件实时数据库系统的设计,兰州理工大学学报[J],2001.Vo127(4)
[100]董悦航.汽车底盘模拟测功机测控及信号采集和处理系统的研究,山东理工大学硕士论文[D],2003,5
[101]王绍增.发动机台架试验计算机测控系统的研究,东北林业大学硕士论文[D],2000,7
[102]孙仁云.汽车ABS试验台传感器与系统灵敏度的确定.四川大学学报[J],2001,3
[103]孙传友、孙晓斌等,感测技术与系统设计,北京科学出版社,2004.6
[104]马良埕.《应变电测与传感技术》[M]中国计量出版社,1993.
[105]Roger Pressman. Software Engineering:A Practitioner's Approach, fifth edition,机械工业出版社,2002.
[106]GBT17993-1999《汽车综合性能检测站通用技术条件》
[107]GB18565—2001《营运车辆中和性能要求和检验方法》
[108]JT/T478-2002《汽车检测站计算机控制技术规范》
[109]GB7258-2004《机动车运行安全技术条件》
[110]GB/T18565—2001《营运车辆综合性能要求及检验要求》
[111]GBT17993-2005《汽车综合性能检测站能力的通用要求》
[112]GB/T16260-1996《信息技术软件产品评价、质量特性及其使用指南》
[113]GB/T13423-92《工业控制软件评定准则》
[114]辛长安、梅林.《VC++编程技术与难点剖析》[M],清华大学出版社,2002
[115]程科.VC++环境下开发计算机测控系统的几个关键问题,华东船舶工业学院学报(自然科学版)[J],2001,15(2)
[116]谭超,李将渊,蔡铎昌.VC环境下高速数据采集的实现,电脑开发与应用[J],2003,16(3)
[117]贝绍轶,施卫,周荣新,雷良育.汽车制动性能检测系统的研究与开发.仪表技术,2004,(6):16-18.
[118]赵祥模,关可,南春丽.一种新型的汽车制动性能微机检测系统.计算机应用研究,2004,(8):178-180.
[119]张忠波,谢云,黄曙.汽车制动性能自动检测系统的研制.机床与液压,2005,(2):123-125.
[120]Skidmark signatures of ABS-equipped passenger cars. Metz, L. Daniel (Univ of Illinois at Urbana-Champaign); Ruhl, Roland L. Source:SAE Special Publications, n 814, Feb,1990, Accident Reconstruction:Human, Vehicle and Environmental Factors,17p 900106
[121]GB/1526-89《信息处理、数据流图、程序流图、系统流程图、程序网络图、系统资源图的文件编辑符号及约定》
[122]王季.Windows环境测控系统中实时扩展技术的研究与实现,西北工业大学硕士论文[D],2004
[123]赵祥模、南春莉等,汽车制动性能检测中制动力数据拟合与优化方法研究,中国公路学报,2003,(3)
[124]张剑,潘月斗,许镇琳.数控机床伺服系统高精度位置检测研究与实现,制造业自动化[J],2004.10
[125]赵祥模,刘纪,汽车制动试验台计算机测控与故障诊断系统的研制[A],长安大学建校50周年学术论文集[C],北京：人民交通出版社,2001
[126]GB18565-2001,营运车辆综合性能要求和检验方法[S]
[127]马建,赵祥模,汽车综合性能分布式计算机网络自动测控系统研制[R],西安：陕西省科技厅,2002
[128]程正兴,李水根,数值逼近与常微分方程数值解[M],西安：西安交通大学出版社,2000
[129]GB11798.2-2000,反力滚筒式制动试验台检定技术条件[S]
[130]JJG906-2000,滚筒反力式制动试验台检定规程[S]
[131]王自营,陈威,安钢.PCL833三轴正交编码计数器在转角测量中的应用,电子技术[J],2003,5
[132]王仲生.《智能检测与控制技术》[M],西北工业大学出版社,2002.
[2]吴昌扣,孙骏.汽车ABS/ASR技术及发展趋势,安徽科技[J],2003.(5)
[3]吴权晖,徐达.汽车防抱死制动系统的应用与发展,武汉汽车工业大学学报[J],1999,21(2).
[4]ABS braking performance and steering input. Strickland, Alan (Royal Canadian Mounted Police); Dagg, Ken Source:SAE Special Publications, v 1339, Feb,1998, ABS/Brake/VDC Technology, p 57-64
[5]Mathues. ABS extending the range, SAE Paper 940829.
[6]Peter Hartwig. Cost-benefit analysis of simplified ABS, SAE Paper 850053.
[7]Koichi Hasida. Compact 4ch-ABS hydraulic unit, SAE Paper 920306.
[8]Takeshi Natio, Hiroaki Takeuchi.Development of four solenoid ABS, SAE Paper 960958.
[9]Song Minwang.Personal computer design software for magnetic analysis and dynamic simulation of a two-valve solenoid actuator, SAE Paper 921086.
[10]www.ITT.com
[11]邢亮亮,汽车动力学及ABS系统的计算机仿真研究,西北工业大学硕士论文[D],2002,3
[12]欧洲经济委员会(ECE)的汽车制动法规附件十三——《采用制动防抱死装置的车辆的实验要求》
[13]GB13594-2003《汽车防抱死系统性能要求和实验方法》
[14]www.linkrad.com:ABS End-of-Line Test Systems for Manufacturing Plants.
[15]www.ptmelec.com:ABS Test Controller
[16]www.iyasaka.com.cn:BT-150ABS多功能汽车ABS制动检测台
[17]http://www.schenck.net/en/products.htm
[18]郭孔辉,汽车ABS混合仿真试验台的开发与研究,中国机械工程[J],2000,11(12)
[19]林波,夏群生,何乐,ABS液压混合仿真试验台的研究和应用,清华大学学报(自然科学版)[J],2002,42(2)
[20]赵和平,硬件在环仿真技术在防抱死制动系统试验台架开发中的应用,上海交通大学博士论文[D],2002
[21]孙仁云,汽车防抱制动装置试验台测试系统的研制,四川工业学院学报[J],1999.4
[221马彦,实时五通道ABS检测系统及应用,江苏理工大学学报(自然科学版)[J],1999,20(6)
[23]徐火燃,二轴四通道汽车ABS试验台的设计,武汉理工大学硕士论文[D],2003,6
[24]赵祥模、马建等,汽车综合性能分布式计算机网络自动测控系统,长安大学学报,(2003).(5)
[25]赵祥模等,基于LAN的汽车安全性能自动测控系统研制,计算机工程,2005.(22)
[26]魏朗,郭荣庆,ABS道路试验项目及评价方法分析,山东交通学院学报[J],2002(2)
[27]肖永清.我国汽车检测技术的研究和发展方向,中国机电工业[J],2003(18)
[28]刘少林等.汽车ABS滚筒式惯性检测台架的设计,机电工程[J],2004.
[29]陈其志,汪祥本.制动防抱死系统(ABS)的现状与发展[J].城市公共交通,2004,(3):18-19.
[30]余志生,汽车理论,北京：机械工业出版社,2002.7
[31]方泳龙,汽车制动理论与设计,北京：国防工业出版社,2005.1
[32]魏朗,王囤.现代汽车制动防抱死系统适用技术[M].北京：人民交通出版社,2001.6
[33]New control technique for maximizing braking force on antilock braking system Sugai, Masaru (Toyota Central R&D Lab Inc); Yamaguchi, Hiroyuki; Miyashita, Masanori; Umeno, Takaji; Asano, Katsuhiro Source:Vehicle System Dynamics, v 32, n 4, Nov,1999, p 299-312
[34]程军,汽车防抱死制动系统的理论与实践,北京：北京理工大学出版社,1999.9
[35]喻凡,林逸,汽车系统动力学,北京：机械工业出版社,2005.9
[36]汪立亮等、徐淼等,现代汽车自动防抱死制动系统(ABS)原理与检测,北京：电子工业出版社,2004.8
[37]Modeling and analysis of automotive antilock brake systems subject to vehicle payload shifting. Mills, Val (Automotive Research Laboratory, Department of Mechanical Engineering, Clemson University); Samuels, Bernard; Wagner, John Source:Vehicle System Dynamics, v 37, n 4, April, 2002, P283-310
[38]戈素贞.基于ABS的车辆行使安全距离的研究[J].绍兴文理学院学报,2003,23(8):68-71.
[39]WANG Rong-ben,You Feng,Cui Gao-jian,Yu Tian-hong.Analysis on Lane-changing Safety of Vehicle[J].Journal of Jilin University(Engineering and Technology Edition),2005,35(2):179-182.
[40]Frank R.Giordano,Maurice D.Weir,Willian P.Fox. A First Course in Mathematical Modeling(Third Edition)[M]. Bei-jing:China Machine Press,2005.((叶其孝,姜启源译)
[41]王荣本,李斌,储江伟,郭克友.世界智能车辆行使安全保障技术研究进展[J].公路交通科技,2002,19(2)：117-121
[42]Shoichiro Nakamura. Numerical Analysis and Graphic Visualization with MATLAB[M].北京：电子工业出版社,2002.
[43]Xiang Gao.Modeling and control of anti-lock braking systems utilizing dynamic friction tire model[D],Concordia University,2001.9
[44]The ABS.EFI and Airbag sectors in China and an introduction of the key enterprises.China Auto [J],2003.2
[45]Wolfgang Maisch, wolf-Dieter Jonner, Alfred sigl.ASR—Traction Control—A Logical Extension of ABS.SAE 870337.
[46]吴浩硅,许季,刘绍辉.汽车防抱制动系统制动时的车速计算[J].华南理工大学学报(自然科学版),2002.2
[47]Hybrid control architecture for automobile ABS. Nouillant, C. (PSA Peugeot Citroen); Assadian, F.; Moreau, X.; Oustaloup, A. Source:Robot and Human Communication-Proceedings of the IEEE International Workshop,2001, p 493-498
[48]Optimal design of a hybrid controller for antilock braking systems. Mirzaei, A. (Department of Electrical and Computer Engineering, Isfahan University of Technology); Moallem, M.; Mirzaeian, B. Source:IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM, v 2, Proceedings of the 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2005,2005, p 905-910
[49]Intelligent control of wheeled vehicles with anti-braking systems. Huang, H.-P. (Robotics Laboratory, Dept. of Mechanical Engineering, National Taiwan University); Wang, C.-K. Source: International Journal of Vehicle Design, v 26, n 2-3,2001, p 218-238
[50]Sliding mode wheel slip controller for an antilock braking system. Will, A.B. (General Motors NAO Electrical Cent); Hui, S.; Zak, S.H. Source:International Journal of Vehicle Design, v 19, n 4, 1998, p 523-539
[50][日]ABS株式会社.汽车制动防抱装置(ABS)构造与原理[M].北京：机械工业出版社,1995.
[51]孙仁云,郭辛,龙行现.基于门限值控制的汽车ABS控制器的研制,西南交通大学学报[J],2003,38(4).
[52]熊坚.汽车制动防抱死控制信号分析及门值的选取,云南工业大学学报[J],1997,13(2).
[53]朱伟兴,陈垠昶.模糊PID控制在汽车ABS中的应用与仿真研究,江苏大学学报(自然科学版)[J],2004,25(4).
[54]宋健,李永.汽车防抱死制动系统控制方法的研究进展公路交通科技[J],2002,19(16).
[55]赵治国,方宗德,王广炎.防抱死制动系统模糊自学习控制研究[J].汽车工程,2002,(6):25-28.
[56]Development of hardware-in-the-loop simulation system for testing multiple ABS and TCS modules. Lee, Soo-Jin; Kim, Young-Jun; Park, Kihong Source:International Journal of Vehicle Design, v 36, n 1,2004, p 13-23
[57]Hardware-in-the-loop simulation for ABS based on PC. Suh, M.W. (Sung Kyun Kwan Univ); Chung, J.H.; Seok, C.S.; Kim, Y.J. Source:International Journal of Vehicle Design, v 24, n 2,2000, p 157-170
[58]韩文涛,刘明琴,袁志业.汽车ABS的模糊控制方法研究,公路与汽运[J],2004,1
[59]胡国亮.模糊控制汽车ABS防抱死系统,微计算机信息[J],1998,14(4)
[60]陈昌巨,刘家良,刘晓军.汽车ABS的控制方法研究,武汉理工大学学报·信息与管理工程版[J],2003,3
[61]王新郧,侯永平,李左龙,杨颖超.ABS性能评价方法的研究.汽车技术[J],2002,(2)
[62]李春泉.在我省进行使用试验的汽车防抱制动系统简介,云南交通科技[J],2001,17(1)
[63]美国联邦车辆安全标准(FEDERAL MOTOR VEHICLE SAFETY STANDARDS AND REGULATIONS)
[64]王新郧,侯永平,李左龙,杨颖超,ABS性能评价方法的研究,汽车技术[J],2002,(2)
[65]张厚忠,李尽松,ABS的综合性能评价体系及道路试验研究[J],汽车科技,2005,(1):24-27
[66]纪晓鹏.基于整车试验剖析制动防抱系统(ABS)特征的研究,同济大学学报[J],2003,3
[67]黄河,桂根生,吴诰珪,赵克刚,钟汉如,毕盛,GZ6920SF大客车ABS试验研究,机电工程技术[J],2002,31(5)
[68]陈振日.牵引车、半挂车ABS道路试验及计算方法,试验、测试[J],2004(1)
[69]张新,王群峰,吴志强,姜陵.新型液压ABS系统的道路试验研究[J],2004,26(3)
[70]Xiang Gao.Modeling and control of anti-lock braking systems utilizing dynamic friction tire model[D]. Concordia University.2001,(9)
[71]The ABS,EFI and Airbag sectors in China and an introduction of the key enterprises.China Auto [J],2003,(2)
[72]Vehicle integrated control (ABS, ASUS,4WS) with variable structure control (sliding wlode):The new method for active suspension system. Salehi, Mahdi (Mechanical Engineering Department, Sharif University of Tech.); Vosoughi, Gholamreza Source:Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference-DETC2005, v 4, Proc. of the ASME International Des. Eng. Tech. Conferences and Computers and Inf. in Engineering Conf.-DETC2005:ASME/IEEE International Conference on Mechatronic and Embedded Systems Appl.,2005, p 121-129
[73]Simulation of solid cargo-vehicle interaction during braking of a heavy vehicle with ABS. Romero, Jose A. (Queretaro Autonomous University); Rakheja, Subhash; Lozano, Alejandro Source: American Society of Mechanical Engineers, Design Engineering Division (Publication) DE, v 118 A, n 1, Proceedings of the ASME Design Engineering Division 2005,2005, p 89-96
[74]魏宏玲,黄德中.基于汽车ABS试验台架的传感器技术,机电工程[J],2001,5
[75]艾尼瓦尔.MABS-3000多功能汽车防抱死制动系统检验台研究[D].西安：长安大学,2002年
[76]李军,汽车使用性能与检测技术,北京：人民交通出版社,2004.9
[77]交通部公路司审定.汽车综合性能检测[M].上海：上海科学技术文献出版社,1999年5月
[78]赵奇平,陈汉讯,徐达伟,汽车、摩托车ABS性能试验台开发,武汉理工大学学报[J].2002年,05期
[79]王兆.国内外ABS标准法规简介,商用汽车[J],2002,6
[80]郭建忠、麻友良等,基于网络的汽车性能检测在线监测系统,汽车电器,2005,(2)
[81]史美林,计算机支持的协同工作理论与应用,北京：电子工业出版社,2000
[82]芮延年,协同设计,北京：机械工业出版社,2003
[83]H Park, M R Cutkosky. Framework for modeling dependencies in collaborative engineering processes. Research in Engineering Design,1999, 11:84～102
[84]袁崇义.Petri网原理与应用.北京：电子工业出版社,2005
[85]蒋昌俊.离散事件动态系统的PN机理论.北京：科学出版社,2000
[86]C A Lakos. From Coloured Petri Nets to Object Petri Nets. In:LNCS 935. Torino: Springer-Verlag,1995.278～297
[87]C A Lakos. Object-Oriented Modeling with Object Petri Nets. In:LNCS 2001. Berlin: Springer-Verlag,2001.1～37
[88]XU Jie,Du Wen,Sun Hong. Safety distance about car-following[J].Journal of Traffic and Transportation Engineering,2002,2 (1):101-104.
[89]吴诰珪,赵克刚,范刚,曾建谋.附着系数-滑移率曲线的测定,华南理工大学学报(自然科学版)[J],2001,29(9).
[90]赵祥模、郭晓汾,汽车检测控制系统网络通信技术,交通运输工程学报,2006,(1)
[91]赵祥模、安毅生等,汽车综合性能检测线软件系统的远程诊断与维护技术,计算机工程与应用,2003,(32)
[92][日]ABS株式会社.汽车制动防抱装置(ABS)构造与原理[M],北京：机械工业出版社,1995,9(6).
[93]高军.WINDOWS98平台上内燃机车负载试验微机测控系统软件的研制,兰州铁道学院硕士论文[D],2000,1
[94]陈松乔等.《现代软件工程》[M],清华大学出版社,2004
[95]GB/T15532-95《计算机软件单元测试》
[96]GB/T16680-96《软件文档管理指南》
[97]王春森.《系统设计师教程》[M],清华大学出版社,2001
[98]陈众.VC环境下小型工业监控软件的开发,计算机自动测量与控制[J],2000,8(5)
[99]阚宏进,刘希远,李翠铃.基于VC工控组态软件实时数据库系统的设计,兰州理工大学学报[J],2001.Vo127(4)
[100]董悦航.汽车底盘模拟测功机测控及信号采集和处理系统的研究,山东理工大学硕士论文[D],2003,5
[101]王绍增.发动机台架试验计算机测控系统的研究,东北林业大学硕士论文[D],2000,7
[102]孙仁云.汽车ABS试验台传感器与系统灵敏度的确定.四川大学学报[J],2001,3
[103]孙传友、孙晓斌等,感测技术与系统设计,北京科学出版社,2004.6
[104]马良埕.《应变电测与传感技术》[M]中国计量出版社,1993.
[105]Roger Pressman. Software Engineering:A Practitioner's Approach, fifth edition,机械工业出版社,2002.
[106]GBT17993-1999《汽车综合性能检测站通用技术条件》
[107]GB18565—2001《营运车辆中和性能要求和检验方法》
[108]JT/T478-2002《汽车检测站计算机控制技术规范》
[109]GB7258-2004《机动车运行安全技术条件》
[110]GB/T18565—2001《营运车辆综合性能要求及检验要求》
[111]GBT17993-2005《汽车综合性能检测站能力的通用要求》
[112]GB/T16260-1996《信息技术软件产品评价、质量特性及其使用指南》
[113]GB/T13423-92《工业控制软件评定准则》
[114]辛长安、梅林.《VC++编程技术与难点剖析》[M],清华大学出版社,2002
[115]程科.VC++环境下开发计算机测控系统的几个关键问题,华东船舶工业学院学报(自然科学版)[J],2001,15(2)
[116]谭超,李将渊,蔡铎昌.VC环境下高速数据采集的实现,电脑开发与应用[J],2003,16(3)
[117]贝绍轶,施卫,周荣新,雷良育.汽车制动性能检测系统的研究与开发.仪表技术,2004,(6):16-18.
[118]赵祥模,关可,南春丽.一种新型的汽车制动性能微机检测系统.计算机应用研究,2004,(8):178-180.
[119]张忠波,谢云,黄曙.汽车制动性能自动检测系统的研制.机床与液压,2005,(2):123-125.
[120]Skidmark signatures of ABS-equipped passenger cars. Metz, L. Daniel (Univ of Illinois at Urbana-Champaign); Ruhl, Roland L. Source:SAE Special Publications, n 814, Feb,1990, Accident Reconstruction:Human, Vehicle and Environmental Factors,17p 900106
[121]GB/1526-89《信息处理、数据流图、程序流图、系统流程图、程序网络图、系统资源图的文件编辑符号及约定》
[122]王季.Windows环境测控系统中实时扩展技术的研究与实现,西北工业大学硕士论文[D],2004
[123]赵祥模、南春莉等,汽车制动性能检测中制动力数据拟合与优化方法研究,中国公路学报,2003,(3)
[124]张剑,潘月斗,许镇琳.数控机床伺服系统高精度位置检测研究与实现,制造业自动化[J],2004.10
[125]赵祥模,刘纪,汽车制动试验台计算机测控与故障诊断系统的研制[A],长安大学建校50周年学术论文集[C],北京：人民交通出版社,2001
[126]GB18565-2001,营运车辆综合性能要求和检验方法[S]
[127]马建,赵祥模,汽车综合性能分布式计算机网络自动测控系统研制[R],西安：陕西省科技厅,2002
[128]程正兴,李水根,数值逼近与常微分方程数值解[M],西安：西安交通大学出版社,2000
[129]GB11798.2-2000,反力滚筒式制动试验台检定技术条件[S]
[130]JJG906-2000,滚筒反力式制动试验台检定规程[S]
[131]王自营,陈威,安钢.PCL833三轴正交编码计数器在转角测量中的应用,电子技术[J],2003,5
[132]王仲生.《智能检测与控制技术》[M],西北工业大学出版社,2002.